504 lines
19 KiB
C++
504 lines
19 KiB
C++
/****************************************************************
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Generated by Eclipse Cyclone DDS IDL to CXX Translator
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File name: IMUState_.idl
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Source: IMUState_.hpp
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Cyclone DDS: v0.10.2
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*****************************************************************/
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#ifndef DDSCXX_IMUSTATE__HPP
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#define DDSCXX_IMUSTATE__HPP
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#include <cstdint>
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#include <array>
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namespace unitree_go
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{
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namespace msg
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{
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namespace dds_
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{
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class IMUState_
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{
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private:
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std::array<float, 4> quaternion_ = { };
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std::array<float, 3> gyroscope_ = { };
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std::array<float, 3> accelerometer_ = { };
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std::array<float, 3> rpy_ = { };
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uint8_t temperature_ = 0;
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public:
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IMUState_() = default;
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explicit IMUState_(
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const std::array<float, 4>& quaternion,
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const std::array<float, 3>& gyroscope,
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const std::array<float, 3>& accelerometer,
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const std::array<float, 3>& rpy,
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uint8_t temperature) :
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quaternion_(quaternion),
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gyroscope_(gyroscope),
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accelerometer_(accelerometer),
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rpy_(rpy),
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temperature_(temperature) { }
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const std::array<float, 4>& quaternion() const { return this->quaternion_; }
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std::array<float, 4>& quaternion() { return this->quaternion_; }
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void quaternion(const std::array<float, 4>& _val_) { this->quaternion_ = _val_; }
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void quaternion(std::array<float, 4>&& _val_) { this->quaternion_ = _val_; }
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const std::array<float, 3>& gyroscope() const { return this->gyroscope_; }
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std::array<float, 3>& gyroscope() { return this->gyroscope_; }
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void gyroscope(const std::array<float, 3>& _val_) { this->gyroscope_ = _val_; }
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void gyroscope(std::array<float, 3>&& _val_) { this->gyroscope_ = _val_; }
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const std::array<float, 3>& accelerometer() const { return this->accelerometer_; }
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std::array<float, 3>& accelerometer() { return this->accelerometer_; }
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void accelerometer(const std::array<float, 3>& _val_) { this->accelerometer_ = _val_; }
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void accelerometer(std::array<float, 3>&& _val_) { this->accelerometer_ = _val_; }
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const std::array<float, 3>& rpy() const { return this->rpy_; }
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std::array<float, 3>& rpy() { return this->rpy_; }
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void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
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void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
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uint8_t temperature() const { return this->temperature_; }
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uint8_t& temperature() { return this->temperature_; }
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void temperature(uint8_t _val_) { this->temperature_ = _val_; }
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bool operator==(const IMUState_& _other) const
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{
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(void) _other;
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return quaternion_ == _other.quaternion_ &&
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gyroscope_ == _other.gyroscope_ &&
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accelerometer_ == _other.accelerometer_ &&
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rpy_ == _other.rpy_ &&
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temperature_ == _other.temperature_;
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}
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bool operator!=(const IMUState_& _other) const
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{
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return !(*this == _other);
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}
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};
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}
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}
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}
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#include "dds/topic/TopicTraits.hpp"
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#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
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namespace org {
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namespace eclipse {
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namespace cyclonedds {
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namespace topic {
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template <> constexpr const char* TopicTraits<::unitree_go::msg::dds_::IMUState_>::getTypeName()
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{
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return "unitree_go::msg::dds_::IMUState_";
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}
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template <> constexpr bool TopicTraits<::unitree_go::msg::dds_::IMUState_>::isKeyless()
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{
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return true;
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}
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#ifdef DDSCXX_HAS_TYPE_DISCOVERY
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob_sz() { return 498; }
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template<> constexpr unsigned int TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob_sz() { return 100; }
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_map_blob() {
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static const uint8_t blob[] = {
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0xab, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc,
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0x67, 0x10, 0xef, 0xc8, 0x29, 0x31, 0x15, 0x00, 0x93, 0x00, 0x00, 0x00, 0xf1, 0x51, 0x01, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x83, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
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0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x75, 0xb9, 0xaa, 0xa0, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x03, 0x09, 0x6b, 0x3b, 0x2d, 0x85, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x0e, 0x12,
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0x75, 0x69, 0x00, 0x00, 0x16, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0xb0, 0x7d, 0x92, 0xed, 0x00, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0xee, 0xf4, 0x38, 0xf7, 0x00,
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0x16, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25,
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0xd2, 0x26, 0x28, 0xb6, 0xb7, 0x64, 0xcc, 0x00, 0xfe, 0x00, 0x00, 0x00, 0xf2, 0x51, 0x01, 0x00,
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0x29, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x21, 0x00, 0x00, 0x00, 0x75, 0x6e, 0x69, 0x74,
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0x72, 0x65, 0x65, 0x5f, 0x67, 0x6f, 0x3a, 0x3a, 0x6d, 0x73, 0x67, 0x3a, 0x3a, 0x64, 0x64, 0x73,
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0x5f, 0x3a, 0x3a, 0x49, 0x4d, 0x55, 0x53, 0x74, 0x61, 0x74, 0x65, 0x5f, 0x00, 0x00, 0x00, 0x00,
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0xc6, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x09, 0x00, 0x00,
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0x0b, 0x00, 0x00, 0x00, 0x71, 0x75, 0x61, 0x74, 0x65, 0x72, 0x6e, 0x69, 0x6f, 0x6e, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3,
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0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00,
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0x67, 0x79, 0x72, 0x6f, 0x73, 0x63, 0x6f, 0x70, 0x65, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00,
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0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x03, 0x09, 0x00, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x61, 0x63, 0x63, 0x65, 0x6c, 0x65, 0x72, 0x6f,
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0x6d, 0x65, 0x74, 0x65, 0x72, 0x00, 0x00, 0x00, 0x1e, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x90, 0xf3, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x03, 0x09, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x72, 0x70, 0x79, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1a, 0x00, 0x00, 0x00,
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0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x74, 0x65, 0x6d, 0x70,
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0x65, 0x72, 0x61, 0x74, 0x75, 0x72, 0x65, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22, 0x00, 0x00, 0x00,
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0x01, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6,
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0xb7, 0x64, 0xcc, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8, 0x29,
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0x31, 0x15, };
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return blob;
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}
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template<> inline const uint8_t * TopicTraits<::unitree_go::msg::dds_::IMUState_>::type_info_blob() {
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static const uint8_t blob[] = {
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0x60, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf1, 0x4b, 0x1b, 0xf4, 0xaf, 0x32, 0xe5, 0xbc, 0x67, 0x10, 0xef, 0xc8,
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0x29, 0x31, 0x15, 0x00, 0x97, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x40, 0x28, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00,
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0x14, 0x00, 0x00, 0x00, 0xf2, 0xc4, 0xec, 0xb4, 0x9c, 0xd7, 0xb2, 0x25, 0xd2, 0x26, 0x28, 0xb6,
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0xb7, 0x64, 0xcc, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, };
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return blob;
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}
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#endif //DDSCXX_HAS_TYPE_DISCOVERY
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} //namespace topic
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} //namespace cyclonedds
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} //namespace eclipse
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} //namespace org
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namespace dds {
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namespace topic {
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template <>
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struct topic_type_name<::unitree_go::msg::dds_::IMUState_>
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{
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static std::string value()
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{
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return org::eclipse::cyclonedds::topic::TopicTraits<::unitree_go::msg::dds_::IMUState_>::getTypeName();
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}
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};
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}
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}
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REGISTER_TOPIC_TYPE(::unitree_go::msg::dds_::IMUState_)
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namespace org{
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namespace eclipse{
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namespace cyclonedds{
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namespace core{
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namespace cdr{
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template<>
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propvec &get_type_props<::unitree_go::msg::dds_::IMUState_>();
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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bool write(T& streamer, const ::unitree_go::msg::dds_::IMUState_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.quaternion()[0], instance.quaternion().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!write(streamer, instance.rpy()[0], instance.rpy().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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if (!write(streamer, instance.temperature()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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}
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prop = streamer.next_entity(prop);
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}
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return streamer.finish_struct(*props);
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}
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template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
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bool write(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) {
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auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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str.set_mode(cdr_stream::stream_mode::write, as_key);
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return write(str, instance, props.data());
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}
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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bool read(T& streamer, ::unitree_go::msg::dds_::IMUState_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.quaternion()[0], instance.quaternion().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 1:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 2:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 3:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!read(streamer, instance.rpy()[0], instance.rpy().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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case 4:
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if (!streamer.start_member(*prop))
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return false;
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if (!read(streamer, instance.temperature()))
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
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}
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prop = streamer.next_entity(prop);
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}
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return streamer.finish_struct(*props);
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}
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template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
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bool read(S& str, ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) {
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auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
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str.set_mode(cdr_stream::stream_mode::read, as_key);
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return read(str, instance, props.data());
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}
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template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
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bool move(T& streamer, const ::unitree_go::msg::dds_::IMUState_& instance, entity_properties_t *props) {
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(void)instance;
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if (!streamer.start_struct(*props))
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return false;
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auto prop = streamer.first_entity(props);
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while (prop) {
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switch (prop->m_id) {
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case 0:
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if (!streamer.start_member(*prop))
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return false;
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if (!streamer.start_consecutive(true, true))
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return false;
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if (!move(streamer, instance.quaternion()[0], instance.quaternion().size()))
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return false;
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if (!streamer.finish_consecutive())
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return false;
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if (!streamer.finish_member(*prop))
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return false;
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break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!move(streamer, instance.rpy()[0], instance.rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!move(streamer, instance.temperature()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool move(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
|
|
str.set_mode(cdr_stream::stream_mode::move, as_key);
|
|
return move(str, instance, props.data());
|
|
}
|
|
|
|
template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
|
|
bool max(T& streamer, const ::unitree_go::msg::dds_::IMUState_& instance, entity_properties_t *props) {
|
|
(void)instance;
|
|
if (!streamer.start_struct(*props))
|
|
return false;
|
|
auto prop = streamer.first_entity(props);
|
|
while (prop) {
|
|
switch (prop->m_id) {
|
|
case 0:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.quaternion()[0], instance.quaternion().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 1:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.gyroscope()[0], instance.gyroscope().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 2:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.accelerometer()[0], instance.accelerometer().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 3:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!streamer.start_consecutive(true, true))
|
|
return false;
|
|
if (!max(streamer, instance.rpy()[0], instance.rpy().size()))
|
|
return false;
|
|
if (!streamer.finish_consecutive())
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
case 4:
|
|
if (!streamer.start_member(*prop))
|
|
return false;
|
|
if (!max(streamer, instance.temperature()))
|
|
return false;
|
|
if (!streamer.finish_member(*prop))
|
|
return false;
|
|
break;
|
|
}
|
|
prop = streamer.next_entity(prop);
|
|
}
|
|
return streamer.finish_struct(*props);
|
|
}
|
|
|
|
template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
|
|
bool max(S& str, const ::unitree_go::msg::dds_::IMUState_& instance, bool as_key) {
|
|
auto &props = get_type_props<::unitree_go::msg::dds_::IMUState_>();
|
|
str.set_mode(cdr_stream::stream_mode::max, as_key);
|
|
return max(str, instance, props.data());
|
|
}
|
|
|
|
} //namespace cdr
|
|
} //namespace core
|
|
} //namespace cyclonedds
|
|
} //namespace eclipse
|
|
} //namespace org
|
|
|
|
#endif // DDSCXX_IMUSTATE__HPP
|